- Download the latest VS Creator software from Keyence’s website and connect to the camera. Refer to the Keyence VS Series Setup Manual.
- Refer to the first three chapters of the Keyence VS Series Robot Connection Manual. NOTE: Pay special attention to Section 3-1, this is where the tool number and fixed user frame number will need to be specified for the application.
- KEY_VS_SampleProgram_YASKAWA.JBI, ADJUST.JBI, RELATIVE_JOB.JBI, and MACRO.DAT must be loaded along with the other robot jobs.
- Teach Robot TCP for the end of arm tooling (ie. Tool 0). This must match the tool number set in the Utility program (I094).
- Teach Fixed User Frame (ie. User Frame 1). This must match the user frame number set in the Utility program (I095).
- In the KEY_VS_SampleProgram_YASKAWA.JBI…
- Teach Robot Home position where indicated.
- Teach Inspection position where indicated.
- To adjust the camera image and lighting, refer to the Keyence VS Series Setup Manual, Chapter 4 (Page 5-48).
- To calibrate the camera and teach the part detection, refer to the Keyence VS Series Vision Guided Robotics Application Easy Installation Guide: On-Hand Camera One-Point Imaging, Pick/Place Edition.
In the KEY_VS_SampleProgram_YASKAWA.JBI, the ADJUST macro (commonly used in MotoSight2D applications) is used to set the detection location data from the camera as the origin of a makeshift user frame (See Figure 1). See MotoSight2D manual pages 3-28 to 3-29 and 5-3 to 5-4 for more information on the ADJUST macro. Argument VIS_P is set to 90 to access the camera results in P90 per the original Keyence Sample program, arguments CAM_TCP and F/M are both set to 0 to always treat the camera as fixed in both a fixed or mobile application, argument MK_UF# is set to 2 to have User Frame 2 be the makeshift user frame that moves with the origin of the detected part, argument LOC_P# is not relevant in this case so set it to something unused like 99, and argument Pause is initially set to 1 just to have the program stop after executing the Adjust macro to allow for the robot to be taught the relative positions. Once the relative positions have been taught and verified for accuracy, argument Pause can be set to 0.
Figure 1: ADJUST macro in the modified sample program
- Run the KEY_VS_SampleProgram_YASKAWA.JBI program in Teach Mode until it pauses at the ADJUST macro and make sure that the position data in the camera (See the Data Output tool) matches the position data in P90 on the robot.
- Go to Robot -> User Coordinate and go to the makeshift user frame. Forward to the origin of the user frame. Make sure the robot TCP is going to the taught part position that is registered in the camera.
- Then, open RELATIVE_JOB, jog the robot to the desired positions on the part, and modify the robot positions in the job accordingly. Feel free to delete what is there already and insert new positions instead. The RELATIVE_JOB provided is already set to reference makeshift User Frame 2. To change the user frame number, go to the Display tab -> Job Header -> Teach Coord. See pages 3-30 to 3-32 in the MotoSight2D manual to see more information about Relative Job.
- Finally, change the Pause argument in the Adjust macro to 0 and run the entire KEY_VS_SampleProgram_YASKAWA.JBI program in Teach Mode to verify that the program works. Move the detection target (picking application) or place a part on the detection target (placing application) and rerun the program again to make sure the robot positions adapt to the new location of the detection target.
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